Wiring the new control system

MVRT2010 – 2011 Season

Basic Wiring Principles• Color convention for insulation (according to

rules)– Power = red, white, brown– Ground = black, brown

• Use right size (gauge/diameter) cables– Big wire = smaller gauge = more current

• Basic types– Solid – single wire– Stranded – multiple smaller wires twisted together– Jacketed – multiple insulated wires with an outer

cover

FIRST Wiring Rules

Robot Battery• 12V Lead-Acid

Battery• Connects to

power block and main circuit breaker

• Powers all functions of robot

Wiring diagram

Battery

Main Circuit Breaker• Turns robot on and off• To turn it off press the red

button on the top• To turn it on close the

switch• Connects the battery to

the power distribution board

• Normally use the red power cable from the battery to the breaker

Wiring diagram

Battery

Circuit breaker

Power Distributor Board• Distributes power to

all the electrical components

• Makes sure not too much current is drawn and everything is well connected

• Connects to everything that requires power

Wiring diagram

Battery

Circuit breaker

Power distribution

board

Compact RIO Controller (cRio)

• Brains of Robot• Gets power from the

power distributor board• Sends power and signal

to the Digital Sidecard and the Wi-Fi interface

• Connects via Wi-Fi to the driver station and the robot

Modules and Bumpers

• Analog Input Module– Analog inputs with 3 pin

connectors• Digital Adapter Module

– Connects to Digital Sidecar with a ribbon cable

– PWMs, Digital I/O, 3-pin relay connectors

• Relay Module (On/Off)– Control solenoids (electrical

controller used with pneumatic system)

Wiring diagram

Battery

Circuit breaker

Power distribution

board

cRio controller

Digital module

Solen--oid

module

Analog module

Digital Sidecar

• Used to connect variety of different signals, mainly to the Victors

• Connects to the cRio module and power distributor block

Wiring diagram

Battery

Circuit breaker

Power distribution

board

cRio controller

Digital module

Solen--oid

module

Analog module

Digital sidecar

Jaguar Speed Controller• Determines how

much power goes to the motor

• Gets power from the distribution board, input from the digital sidecard, and outputs to the motors

Motors• Motors wired to Jaguar

speed controller– Wired up by both the

ground and the power• Wire with Powerpole

connectors• Jaguars make motors

move at a certain speed• Motors allow an object to

rotate

Spike• Input: a voltage input • Output: voltage to a motor

– Full forward (+12V)– Full backward (-12V)

• Turns compressor on and off to charge pneumatics system

• Wired to compressor and digital sidecar

Wiring diagram

Battery

Circuit breaker

Power distribution

board

cRio controller

Digital module

Solen--oid

module

Analog module

Digital sidecar

Motor speed controllers

Spike relays

Digital sensors

motors compressor

Linksys Wi-Fi Interface

• Connects the cRio to the driver station/router

• Connected to the OI and the power distribution board

Wiring diagram

Battery

Circuit breaker

Power distribution

board

cRio controller

Digital module

Solen--oid

module

Analog module

Digital sidecar

Motor speed controllers

Spike relays

Digital sensors

motors compressor

Pneumatic solenoid Analog

sensors

Wireless bridge

WAGO & Sauro Connector

• 2 pole• Uses – Power

distributor to…– bumpers– gaming adapter– Digital side card

Sauro Connector• 4 pole• Uses – Power

distributor to… – cRio

Other parts/tools used to wire the robot

• Servos• Electrical tape• PWM Wires• Zipties • Label Makers

Servos

• Rotates from 0 to 254• Once given position,

stays there and cannot be moved unless “told” by the code

• A very small motor

Servo 2011• 2011 changes - Can use more servos starting this year• Max power = (0.5 * stall torque) * (0.5 * no load speed)

– Load speed has to be less than 4W• Example (Hitec Hs – 322 servo)

– Servo max power rating = torque x speed x unit conversion factor

– Torque = 3/7 kg/cm = 0.36 NM– RPM = 0.15s @ 60 = 66.7 RPM– 0.36 NM x 66.7 RPM x 0.1047 = 2.5W

Speed (4.8V/6.0v) 0.19/0.15 sec @ 60

Torque oz/in (4.8V/6.0V) 42/51

Torque kg/cm (4.8V/6.0V) 3.0/3.7

Electrical Tape• Prevents the electrical

current from hurting people on battery terminals or open wire

• Primarily used to insulate bare wires or ends– use red electrical tape for

power wires– Use black tape for ground

wires• Use to cover jaguar

terminals

PWM• Stands for pulse

width modulator• Used to transmit

data to speed controllers

• Red - power• Black - ground• White/Yellow -

signal

Zip ties

• Used to keep wiring neat and out of the way from moving parts to avoid the wires from getting cut

Label Maker

• Labeling wire makes it easy to identify where it’s from / going to– Ex. label pwm cables from

digital sidecar to jaguars